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Optical flow based robot obstacle avoidance with Matlab 1.0
File ID: 79920






Optical flow based robot obstacle avoidance with Matlab 1.0
Download Optical flow based robot obstacle avoidance with Matlab 1.0Report Error Link
License: Shareware
File Size: 215.0 KB
Downloads: 25
Submit Rating:
Optical flow based robot obstacle avoidance with Matlab 1.0 Description
Description: Matlabd-deOaos Virtual Reality toolbox makes it possible to not only visualize a virtual world, but also capture it into an image from a specified position, orientation and rotation. The virtual world was created in VRML with a plain text editor and it can be viewed in your internet browser if you have installed a VRML viewer.

For calculating the optical view field of two successive camera images, I used a C optimized version of Horn and Schunkd-deOaos optical flow algorithm.

Based on this optical flow field, the flow magnitudes of right and left half of each image is calculated. If the sum of the flow magnitudes of the view reaches a certain threshold, it is assumed there is an obstacle in front of the robot. Then the computed flow magnitude of right and left half image is used to formulate a balance strategy: if the right flow is larger than the left flow, the robot turns left - otherwise it turns right.

Requires Matlab (Windows, Mac or Linux).

Note: On Mac or Linux, first the Matlab wrapper needs to be compiled into a mex file using Matlab by going to the directory containing the library and running the following command within Matlab:

mex OpticalFlowMatlab.cpp

Start the robot simulation by typing in Matlab:

ofnav

License: Shareware

Related: larger, Strategy, balance, turns, Windows, matlab, requires, Formulate, magnitude

O/S:BSD, Linux, Solaris, Mac OS X

File Size: 215.0 KB

Downloads: 25



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